ABB IRB 6620 - Replacement of Motor, Axis 3

4.6.3 Replacement of motor, axis 3
Location of motor
The motor axis 3 is located on the left hand side of the robot as shown in the figure
below.
xx0600003051
Cable gland cover, motor axis 3A
Motor attachment holes (4 pcs)B
Motor, axis 3C
Required equipment
NoteArt. no.Spare part no.Equipment, etc.
Includes:
• motor
• pinion
• o-ring 21522012-430
See Spare part lists
on page 351.
Motor, axis 3
Must be replaced when reas-
sembling motor!
21522012-430O-ring
For lubricating the o-ring.3HAB3537-1Grease
3HAB3409-86Bolts M16x60
(for mechanical
stop axis 3)
For guiding the motor.3HAC15521-1Guide pins M10 x
100
For guiding the motor.3HAC15521-2Guide pins M10 x
150
Used to rotate the motor pin-
ion when mating it to the gear
when brakes are released with
24 VDC power supply.
3HAC17105-1Rotation tool
Continues on next page
Product manual - IRB 6620 253
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.3 Replacement of motor, axis 3